An optimal policy \(\pi _{\mathrm {R},\mu ,k}^\star \)  can be found by converting the Bellman's optimality equation (REF ) into an iterative procedure, called relative value iteration algorithm (RVIA) [1]}. At each iteration \(i = 0,1,\ldots \) , we first update \(Q_{\mathrm {R},\mu ,k}^{(i+1)}(z,a)\)  by using \(h_{\mathrm {R},\mu ,k}^{(i)}(z)\)  in (REF ), and then
\(\begin{array}{ll}&V_{\mathrm {R},\mu ,k}^{(i+1)}(z) =\min _{a\in \mathcal {A}} Q_{\mathrm {R},\mu ,k}^{(i+1)}(z,a), \\& h_{\mathrm {R},\mu ,k}^{(i+1)}(z) = V_{\mathrm {R},\mu ,k}^{(i+1)}(z) - V_{\mathrm {R},\mu ,k}^{(i+1)}(z_{\mathrm {ref}}),\end{array}\) 
